bundles / scipy latest / scipy / spatial / transform / _rotation / Slerp
class
scipy.spatial.transform._rotation:Slerp
source: build-install/usr/lib/python3.14/site-packages/scipy/spatial/transform/_rotation.py:2672
Signature
class Slerp(times: ArrayLike, rotations: Rotation)Members
Summary
Spherical Linear Interpolation of Rotations.
Extended Summary
The interpolation between consecutive rotations is performed as a rotation around a fixed axis with a constant angular velocity [1]. This ensures that the interpolated rotations follow the shortest path between initial and final orientations.
Parameters
times: array_like, shape (N,)Times of the known rotations. At least 2 times must be specified.
rotations: `Rotation` instanceRotations to perform the interpolation between. Must contain N rotations.
Methods
__call__
Notes
This class only supports interpolation of rotations with a single leading dimension.
Examples
from scipy.spatial.transform import Rotation as R from scipy.spatial.transform import Slerp✓
key_rots = R.random(5, random_state=2342345) key_times = [0, 1, 2, 3, 4]✓
slerp = Slerp(key_times, key_rots)
✓times = [0, 0.5, 0.25, 1, 1.5, 2, 2.75, 3, 3.25, 3.60, 4] interp_rots = slerp(times)✓
key_rots.as_euler('xyz', degrees=True)
✗array([[ 14.31444, -27.50096, -3.72758],
[ -1.79924, -24.69422, 164.57702],
[146.15021, 43.22849, -31.34891],
[ 46.39959, 11.62126, -45.99719],
[-88.94648, -49.644 , -65.80547]])
The interpolated rotations expressed as Euler angles. These agree with the
keyframe rotations at both endpoints of the range of keyframe times.
interp_rots.as_euler('xyz', degrees=True)
✗array([[ 14.31444, -27.50096, -3.72758],
[ 4.74589, -32.44684, 81.2514 ],
[ 10.71095, -31.5669 , 38.06896],
[ -1.79924, -24.69422, 164.57702],
[ 11.72796, 51.64207, -171.73747],
[ 146.15021, 43.22849, -31.34891],
[ 68.10922, 20.67625, -48.74886],
[ 46.39959, 11.62126, -45.99719],
[ 12.35553, 4.21525, -64.89288],
[ -30.08117, -19.9077 , -78.98121],
[ -88.94648, -49.644 , -65.80547]])
See also
Aliases
scipy.spatial.transform.Slerp